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In the name of god

In the name of god. Immortals ETDP Presentation. outline. Hardware Software. Hardware. Gyro Transmitter. Gyro. Outputs angular velocity! Angle Prediction Vision Latency No Vision Condition Delta Margin Shooting Global Command Outer PID loop on ω. Vy. Vx. Wireless.

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In the name of god

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  1. In the name of god

  2. Immortals ETDP Presentation

  3. outline • Hardware • Software

  4. Hardware • Gyro • Transmitter

  5. Gyro • Outputs angular velocity! • Angle Prediction • Vision Latency • No Vision Condition • Delta Margin Shooting • Global Command • Outer PID loop on ω Vy Vx

  6. Wireless • Network interface for robot communication • Receives commands over UDP • Sends back robot feedback to the IP that requested the feedback • Multiple's AI computers • Calculates data loss • Used in AI for detecting interference

  7. software • Performance bottleneck in SSL! • SSL started in 1997 • Pentium CPUs back then • Now in 2012 we have Core-i7!

  8. software • Memory performance is the new bottleneck • A read from memory takes ~600 cycles at 3.2 GHz!

  9. software • Data oriented design • Its about shifting focus to how data is read and written • We know our data in SSL

  10. software • Data Oriented Design in SSL • OOP example

  11. software • Data Oriented Design in SSL • DOD example

  12. software • GPU Computing • Field evaluations

  13. software • GPU Computing • Safety evaluation

  14. Result • Running AI and vision filtering in ~0.2 ms on laptop • Makes possibility for doing more AI things • No more carrying heavy PCs!

  15. Software • SB RRT • Biasing the tree to safer areas • Being used since 2010

  16. Software • Performance bottleneck • Not in the SSL • SSL is just a test bed for SB-RRT • Computation time increases linearly with the number of obstacles

  17. Software • Using ANN to remove some obstacles

  18. software • Prediction • Removing latency • Forward prediction in no vision condition

  19. Questions?

  20. Thank You

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